Signed-quadratic systems admit orthogonal foliations by a logarithmic potential that stratify orthants into extremal and transitional layers, with extremal layers diffeomorphic to unbounded task space via globally smooth right-inverses that confine motion to a single orthant.
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Global Geometry of Orthogonal Foliations of Signed-Quadratic Systems
Signed-quadratic systems admit orthogonal foliations by a logarithmic potential that stratify orthants into extremal and transitional layers, with extremal layers diffeomorphic to unbounded task space via globally smooth right-inverses that confine motion to a single orthant.